cmake_minimum_required(VERSION 3.5)
project(control_base)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(OpenCV)
find_package(libbase REQUIRED)
find_package(port REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()
add_definitions(-DCONTROL_CFG="${CMAKE_CURRENT_LIST_DIR}/Control.yaml")
aux_source_directory(./src RMCONTROL)
#MESSAGE(${RMCONTROL})
add_library(control_base SHARED
    include/control_base/WMJRobotControl.h
	src/Chassis.cpp
	src/Communicate.cpp
	src/Gimbal.cpp
	src/Shooter.cpp
	src/Vision.cpp
	src/WMJRobotControl.cpp
  src/Judge.cpp
)
# 添加头文件地址
target_include_directories(control_base PUBLIC
    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
    $<INSTALL_INTERFACE:include>
)
ament_target_dependencies(control_base
    PUBLIC
    rclcpp
    #libbase
    OpenCV
    port
    )
# 为了使下游文件可以访问
ament_export_targets(control_base HAS_LIBRARY_TARGET)
ament_export_dependencies(
    rclcpp
    OpenCV
    port
    #libbase
)

# 注册 导出头文件
install(
  DIRECTORY include/
  DESTINATION include
)
# 注册 导出库文件
install(
    TARGETS control_base
    EXPORT control_base
    ARCHIVE DESTINATION lib
    LIBRARY DESTINATION lib
    RUNTIME DESTINATION bin
    INCLUDES DESTINATION include
)
ament_package()
